摘要
机器人是一种复杂的机电一体化产品,在设计过程中,对机器人的性能分析和优化是一个重要的环节,很大程度上决定了最终物理样机的性能优劣。以所在实验室设计的SCARA机器人为研究对象,介绍了SCARA机器人的传动方案和机械结构,然后建立基于ADAMS的虚拟样机,通过动力学仿真分析,验证了机器人各关节电机和减速器选型正确性。最后基于ANSYS Workbench进行SCARA机器人优化设计,在保证强度刚度的前提下使机械臂质量最小。
Robot is a kind of complex mechanical and electrical products. The performance analysis and optimization of the robot is an important and necessary technical part in the design process which, to a large ex- tent, affect the performance of the final physical prototype. In this paper, the transmission scheme and the me- chanical structure of the SCARA robot are introduced firstly. Then the virtual prototype based on ADAMS is established, and the correctness of the selection of the drive components is verified by the dynamic simulation of SCARA robot. Finally, the optimization of SCARA robot is carried out based on ANSYS Workbench, the weight of SCARA robot is minimized under the prerequisite of ensuring the strength and rigidity.
出处
《机电一体化》
2017年第3期3-8,共6页
Mechatronics
